Step by step user manual ROBOT HIGH PRECISION
Contents
1. amp era Vea Srl DJ Via F lli Rosselli 43 20010 Canegrate MI Italy 39 0331 40 27 51 Fax 39 0331 40 13 27 www vea it aN E mail vea vea it 5 Gislema certificato n 393 UNI EN ISO 9001 2000 w Lm i mi O mm i a0 gt enda con qualit rif ma sbs rot robot ver 9 4 6 Step by step user manual ROBOT HIGH PRECISION ROTATION WITH REFERENCE INSIDE THE CIRCUMFERENCE This user manual explains the necessary steps to achieve the goal above using the HQV VEDO software series Pay attention that the features here described might not exist or might be different from the ones you have bought this is due to the modular configuration of HQV and VEDO systems If you do not have these modules please contact VEA service to obtain the correct modules In every picture that follows the functions to use are highlighted in green z Vea o 1 Grabbing the image Once the hardware has been installed cameras included the first step is to take a picture that will be used to define a scene Please refer to the installation manual for any phase prior to this point 43 HO Canin 2 2 cene 1 Scenal From main menu 68 scala 1 2 Canale menu SCENE gt SCENE 1 Canale 1 00 Prossima scena No Next Scalatura Unit peel de 1 Auto y ss scale Altezza Camera Calibrazione Offset di posizione button CAMERA button FULL D2. 42 HQ Scene E File Opzioni Mome E cenal In the sample window you can define the samples that will be used to find the center of the object As the example beside has a circular shape we prefer to define 4 samples on the boundary Insert the sample s name in the corresponding text field Sample type MORPHOLOGIC button MASK button SAMPLE Use the left mouse button to select the sample Use the right mouse button to move the selection Use the middle mouse button or click on the wheel to resize the selection button CLOSE WINDOW to submit changes i HQY Sample scene 1 Scenal E x A Opzioni Analisi F rr _u e eb gt GJ Aumenta dim campione i Aumenta Pixels fo dim Posizione ie Assoluto Relatio a Zona auto LE de zona auto i 32 W Dim uguali Copy zone from 68 scala 1 2 Occorrenze multiple Fosrione Elimina Altezza T DE Aprile del centro campione Prendi Mona campione amp HQY Full Display scene 1 Scena Salva Opzioni Chiudi Finestra J x 335 Y 205 Area 5 890 VEA amp menu OPTIONS gt SAVE X 44 HQY Sample scene 1 Scenal q xj SAVE Y Opzioni Analisi Moriigico Select output variables SIA n Da Maschera Materiali Reference rotation check Offset 4 ZERO Li Offset Y ZERO eE F Aumenta dim campione Aumenta Pixels fo dim Posizione f Assoluto Relativo a a
3. ROTATION 5 44 HQY Sample scene 1 Scenal j x p Opzioni Analisi Morfologio ae 68 scala 1 2 Prendi rons campione Vi cerca 4 HQY Rotation fv Abilita Rotazione Woodiitd Torme semplici Alta precisione Libera Ogni 90 Ogni 180 Occorrenze multiple Rotazione Ripetizione mo Aumenta dim campione Aumenta Pixels o dim Posizione f Assoluto Relativo a ona auto ea 40 ona auto r 48 W Dim uguali Copy zone from Posizione Elimina Altezza 0 f e del centro campione le ai VEA 0 Once you close the scene window then the mask window appears Mask the whole area Clear the mask on the boundary but KEEP the mask over the rotation sample area USE THE RIGHT MOUSE BUTTON TO CLEAR A PART OF THE MASK Finally you should obtain a mask similar to the one showed in the picture 43 HQY Sample Mask x OK ANNULLA Intervallo Annulla uta Baa HQ toolbar al A mel xla Se ed HQ toolbar Close the scene window once you ferrem have inserted all the samples File Opzioni button CLOSE to submit changes Nome Scenal Ure 2 rif dx 3 ri al 4 rif ba 5 rot Modifica maschera _Modifica maschera Elimina Camera LO Gruppo Elimina maschera Scena 3 Impostazioni di progetto a xi menu OPTIONS gt PROJECT Forta seriale VO sistema SINC salvataggio imma
4. 1 h 1 01 54 7 rif sx 000 715 005 000 uttons in t e main 01 48 3 rif dx 000 908 005 307 58 2 rif al 002 872 005 716 menu 65 4 rif ba 000 432 004 913 HOV Statistic SNA test 1 Scenal 5 rot 00 41 57 00 14 00 daer 68 20 13
5. IMENSION i ebuild image i Separa field NO IERI SIE de IT stabilez fine _ Tolto Dimensione piena TO inverti 3 To Inverti _OK no ok Annulla immagine menu OPTIONS gt CROSS a HUV Hull Display scene 1 Scena center the object or the camera using sn se Naa the red cross as reference menu CLOSE WINDOW button AUTO SETTING button OK U Gm TEEDE 2 Creating the mask In the scene window you can create the scene s mask button CREATE MASK Delimit the region to be masked using the drawing tools provided USE THE LEFT MOUSE BUTTON TO MASK USE THE RIGHT MOUSE BUTTON TO CLEAR A PART OF THE MASK To undo button UNDO backward arrow lt HOV Scene i xi File Opzioni Campioni Home E cenal Z Erea maschera D Elimina ug Camera Fall Gruppo Er ee Chiudi HQ Sample Mask OK ANNULLA Intervallo Annulla 310 108 176 E Stampa Crea maschera Elimina Cimma rnnnlara Pacco TEN 120 Gruppo Chiu VEA o To mask a whole region use the filler tool 3 Sample acquisition In the scene window you can create new samples button NEW lt 3 HQY Sample Mask ANNULLA Intervallo 754 174 62 HQ toolbar el if DD ER fa x ick Crea maschera pe ba Camera 120 Gruppo Stampa Elimina Elimina maschera Snena Chit
6. corresponding flag and click OK cc i trp vyra HyperTerminai rE From main menu vente menu OPTIONS gt PROJECT cometh e RIE GY Project Setup SETTINGS Pa Posen se serio sp TCP IP configuration and test To verify the communication you can use the Windows program HYPER TERMINAL then open a TCP IP channel on the port defined in the project 11 VEA i 4 Avvio del progetto From main menu menu OPTIONS gt START In order to verify the communication via TCP IP you should start the connection from the Windows HYPER TERMINAL too Use the buttons in the main menu in order to select the scene to view The selected sample will be shown on the first line inside the output window Select SINGLE SAMPLE and choose a sample to edit its thresholds in the window below the image 12 SPIE Scena processata E alm AIR el ol gle 2 9 peep IV Scena singla FM Campione singolo test 1 Scena 1 rif sx a HOY Results Fiducial x 0383 97 y 0292 89 031 52 Scena 1 Scenal Y Value Name xX 0383 97 Y 0292 89 Sam Oc Acc Nome pix DX pix DY Angolo A 001 01 54 5 rif sx 000 351 005 488 48 3 rif dx 000 713 005 088 58 7 rif al 000 015 005 213 64 6 rif ba 000 161 004 787 97 8 rot 496 980 147 525 148 99 amp tcp vea HyperTerminal Oj x File Modifica Visualizza Chiama Trasferimen
7. gini SETTINGS Output su disco Robot duc Rotazione robot zioni Tcp Ip M Abilita la rotazione Define variables to use and enable the rotation flag otazione campione Hapa fer Annulla VEA 0 E g Communication protocol configuration Select the device protocol where the communication will start 10 lt 3 HQY Project Setup i x Output su disco Robot fiducial Rotazione robot Opzioni Tcp Ip Porta senale 0 sistema Sincronizzazione Salvataggio immagini Velocit S600 Parit Hessuno Formato di Comunicazione Controllo di flusso J Hessuno ag Valore 0000 00 0012 34 nse azo zr O 7 2 Angolo 000 00 001234 T 0 360 Stringadiprova 12 34 Bits stop OK ie di Compatta Porta 1 Porta 2 Protocollo _ amp On Diff Cami no no re 43 HOY Project Setup l X Output su disco Robot fiducial Rotazione robot Opzioni Tcp Ip Porta seriale 1 0 sistema Sincronizzazione Salvataggio immagini VO sistema Lun Comunicazione Word Running OUT jotf Close window IH off Delayed sht IN off Exit IN lo il Shutdown IN off 7 End Scene OUT i Mess PicIN Jott mmi DE Variable IN fof I Load project IN off Legea ca a ar F Tittle OF Grab IN joff Annulla From main menu Hy vail ag menu OPTIONS gt VARIABLES Variables configuration select the
8. ld Me larry M Salva relativo Zona auto E de ona auto i 32 I Dim uguali Copy zone from Immagine locale Apri immagine Salva immagine Copia imm dalla scena Disabilita campione Disabilita analisi morfologica 4 Oecorenze multiple Altezza 0 OK Annua i ona Posizic ricerca del cer TI L Crea maschera E Elimina Fal Gruppo Elimina maschera Scena In order to create a search area for 44 HQY Sample scene 1 Scenal l x the sample set X and Y deltas in SE the text fields highlighted in the Morfologic j Sine rif sx wi Orma gico Seat and then click on ZONE ove i Thee button OK to submit changes ps Aumenta dim campione a B k Aumenta E n Pixels o dim Posizione f Assoluto f Relativo a In this case you must create 4 samples left right up and down side x ona auto Y 48 Dimuquali pony zone from aj 68 scala 1 2 Oecorenze multiple Frendi il Posizione Elmina Altezza 0 coon campione j Ti if del centro campione i a At this point you must create a fifth sample that will determine the object s rotation insert sample s name button mask Select the sample then select the search area in the same way button SEARCH AREA button CLOSE WINDOW button OK to submit changes Here you can define the rotation values for the sample slected menu OPTIONS gt
9. to ai HOY Statistic yey Trovati 58575 SARCA Contee 38 MB Scene sec 1 9 ra Velocit Runtime 00 43 31 Connesso a 0 12 22 Rilev aut TCP IP SCORR Mause 7 f Ah Elabtime 00 08 46 P dl aa lt A i Cares n O G O OU O pE E D E Eip E EA F e E o p Forma Simile con rumore MIMIMIMIAIIISIIMMIWIWOIIS E ye la Scena processata tei Q a a nese IV Scena sinadla Fiducial x 0388 26 y 0289 46 305 98 Scena 1 Scenal v Value Name X 0388 26 Y 0289 46 Sam Oc Acc Nome pix DX pix DY Angolo A 001 01 53 3 rif sx 004 502 001 891 002 01 49 1 rif dx 004 030 001 797 003 01 48 6 rif al 003 492 001 110 004 01 48 9 rif ba 006 000 002 023 005 01 97 6 rot 429 913 212 545 234 44 t 1 Scenal 1 rif sx Trovati orma Simile con rumore Contatore 363 Scene sec 1 8 Run time 00 37 12 Elabtime 00 12 55 2B O O O O 7 BSR OS Bi E o E D EEn EE es 2 1082 20802 3002 102 Se CR You can change Fe p JH E P Scena O of Fi da o sa C amp cena singola test 1 Scena 5 rot HOY Results Fiducial x 0384 77 y 0292 98 031 60 empione singolo the way samples and coordinates are shown just by Scena 1 Scenal y Value Name X 0384 77 Y 0292 98 gt Acc Nome pix DX pix DY Angolo A clicking on the 37 7 roe 457 185 147 710 148 89 b
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